IL272362B - Use of extended exposure time periods to locate error range and ease in an exposure and light spread system - Google Patents

Use of extended exposure time periods to locate error range and ease in an exposure and light spread system

Info

Publication number
IL272362B
IL272362B IL272362A IL27236220A IL272362B IL 272362 B IL272362 B IL 272362B IL 272362 A IL272362 A IL 272362A IL 27236220 A IL27236220 A IL 27236220A IL 272362 B IL272362 B IL 272362B
Authority
IL
Israel
Prior art keywords
detection
lidar
mitigation
ranging
extended
Prior art date
Application number
IL272362A
Other languages
English (en)
Hebrew (he)
Other versions
IL272362A (en
Original Assignee
Waymo Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Waymo Llc filed Critical Waymo Llc
Publication of IL272362A publication Critical patent/IL272362A/en
Publication of IL272362B publication Critical patent/IL272362B/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
IL272362A 2017-08-01 2020-01-30 Use of extended exposure time periods to locate error range and ease in an exposure and light spread system IL272362B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/665,591 US10627492B2 (en) 2017-08-01 2017-08-01 Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (LIDAR) system
PCT/US2018/036227 WO2019027567A1 (en) 2017-08-01 2018-06-06 USE OF EXTENDED DETECTION PERIODS FOR DETECTION AND MITIGATION OF REACH FOLDING IN A LIGHT DETECTION AND LOCATION SYSTEM (LIDAR)

Publications (2)

Publication Number Publication Date
IL272362A IL272362A (en) 2020-03-31
IL272362B true IL272362B (en) 2021-06-30

Family

ID=65230976

Family Applications (3)

Application Number Title Priority Date Filing Date
IL272362A IL272362B (en) 2017-08-01 2020-01-30 Use of extended exposure time periods to locate error range and ease in an exposure and light spread system
IL280996A IL280996B (en) 2017-08-01 2021-02-21 Use of extended exposure time periods to locate error range and ease in an exposure and light spread system
IL289451A IL289451B2 (en) 2017-08-01 2021-12-28 Use of extended exposure time periods to locate error range and ease in an exposure and light spread system

Family Applications After (2)

Application Number Title Priority Date Filing Date
IL280996A IL280996B (en) 2017-08-01 2021-02-21 Use of extended exposure time periods to locate error range and ease in an exposure and light spread system
IL289451A IL289451B2 (en) 2017-08-01 2021-12-28 Use of extended exposure time periods to locate error range and ease in an exposure and light spread system

Country Status (10)

Country Link
US (4) US10627492B2 (ko)
EP (2) EP3649482B1 (ko)
JP (2) JP7059354B2 (ko)
KR (1) KR102190700B1 (ko)
CN (2) CN111149013B (ko)
AU (3) AU2018309582B2 (ko)
CA (1) CA3071411A1 (ko)
IL (3) IL272362B (ko)
SG (1) SG11202000827VA (ko)
WO (1) WO2019027567A1 (ko)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10627492B2 (en) 2017-08-01 2020-04-21 Waymo Llc Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (LIDAR) system
US11994586B2 (en) * 2018-06-22 2024-05-28 Ams Ag Using time-of-flight and pseudo-random bit sequences to measure distance to object
US11153010B2 (en) 2019-07-02 2021-10-19 Waymo Llc Lidar based communication
US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror
CN110749898B (zh) * 2019-10-18 2022-05-27 深圳奥锐达科技有限公司 一种激光雷达测距系统及其测距方法
EP3995922B1 (en) 2020-11-10 2023-08-23 Yandex Self Driving Group Llc Method and system for providing perception scan data for controlling a self-driving vehicle
US20220236409A1 (en) * 2021-01-25 2022-07-28 GM Global Technology Operations LLC Ambiguity mitigation based on common field of view of radar systems
US11686845B2 (en) * 2021-03-26 2023-06-27 Aeye, Inc. Hyper temporal lidar with controllable detection intervals based on regions of interest
US11500093B2 (en) 2021-03-26 2022-11-15 Aeye, Inc. Hyper temporal lidar using multiple matched filters to determine target obliquity
CN115184946A (zh) * 2021-04-02 2022-10-14 华为技术有限公司 基于雷达的距离检测方法、装置、雷达及终端
CN115790607B (zh) * 2023-01-31 2023-05-12 南京航空航天大学 一种基于短弧历史数据的非合作目标机动特征检测方法

Family Cites Families (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61149879A (ja) * 1984-12-24 1986-07-08 Meisei Electric Co Ltd 受信パルス誤検出防止装置
JP3110562B2 (ja) * 1992-07-20 2000-11-20 富士通テン株式会社 車間距離測定装置
JPH07229965A (ja) * 1994-02-22 1995-08-29 Nikon Corp 距離測定装置
US5442359A (en) 1994-06-30 1995-08-15 Unisys Corporation Apparatus and method for mitigating range-doppler ambiguities in pulse-doppler radars
JP3763000B2 (ja) 2003-09-17 2006-04-05 防衛庁技術研究本部長 レーダ装置
JP4161910B2 (ja) * 2004-01-28 2008-10-08 株式会社デンソー 距離画像データ生成装置及び生成方法，プログラム
EP1860462A1 (de) * 2006-05-23 2007-11-28 Leica Geosystems AG Distanzmessverfahren und Distanzmesser zur Erfassung der räumlichen Abmessung eines Zieles
JP2007322331A (ja) 2006-06-02 2007-12-13 Mitsubishi Electric Corp レーダ装置
US8629976B2 (en) * 2007-10-02 2014-01-14 Microsoft Corporation Methods and systems for hierarchical de-aliasing time-of-flight (TOF) systems
US7746449B2 (en) 2007-11-14 2010-06-29 Rosemount Aerospace Inc. Light detection and ranging system
DE102008031681A1 (de) 2008-07-04 2010-01-14 Eads Deutschland Gmbh LIDAR-Verfahren zur Messung von Geschwindigkeiten und LIDAR-Vorrichtung mit zeitgesteuerter Detektion
JP5200820B2 (ja) * 2008-09-25 2013-06-05 カシオ計算機株式会社 撮像装置及び撮像方法、画像処理プログラム
US8368876B1 (en) 2008-10-17 2013-02-05 Odyssey Space Research, L.L.C. Calibration system and method for imaging flash LIDAR systems
US10571571B2 (en) 2010-11-12 2020-02-25 Texas Instruments Incorporated Method and apparatus for controlling time of flight confidence map based depth noise and depth coverage range
CN102073051A (zh) * 2010-11-19 2011-05-25 厦门大学 激光多脉冲扩时测距装置
CN106158895B9 (zh) 2011-03-10 2019-12-20 西奥尼克斯公司 三维传感器、系统和相关的方法
JP2012215521A (ja) 2011-04-01 2012-11-08 Denso Corp レーザレーダ装置
JP2013076645A (ja) 2011-09-30 2013-04-25 Stanley Electric Co Ltd 距離画像生成装置および距離画像生成方法
JP6246131B2 (ja) * 2012-01-10 2017-12-13 ソフトキネティック センサーズ エヌブイ タイムオブフライト信号の処理における又はこれに関する改良
US9383753B1 (en) 2012-09-26 2016-07-05 Google Inc. Wide-view LIDAR with areas of special attention
US9448110B2 (en) 2012-09-27 2016-09-20 Northrop Grumman Systems Corporation Three-dimensional hyperspectral imaging systems and methods using a light detection and ranging (LIDAR) focal plane array
US9097800B1 (en) * 2012-10-11 2015-08-04 Google Inc. Solid object detection system using laser and radar sensor fusion
US9602807B2 (en) 2012-12-19 2017-03-21 Microsoft Technology Licensing, Llc Single frequency time of flight de-aliasing
DE102013003186B3 (de) * 2013-02-26 2014-05-08 Audi Ag Verfahren zur Ermittlung eines Abstands eines Objekts zu einem Kraftfahrzeug und PMD-Sensor
US9110169B2 (en) 2013-03-08 2015-08-18 Advanced Scientific Concepts, Inc. LADAR enabled impact mitigation system
EP2846173B1 (en) 2013-09-09 2019-06-19 Trimble AB Ambiguity compensation in time-of-flight ranging
WO2015087380A1 (ja) * 2013-12-09 2015-06-18 三菱電機株式会社 レーザレーダ装置
US8886387B1 (en) 2014-01-07 2014-11-11 Google Inc. Estimating multi-vehicle motion characteristics by finding stable reference points
JP6207407B2 (ja) * 2014-01-17 2017-10-04 オムロンオートモーティブエレクトロニクス株式会社 レーザレーダ装置、物体検出方法、及び、プログラム
EP3111285B1 (de) * 2014-02-25 2020-02-12 Alfred Kärcher SE & Co. KG Verfahren zum andocken eines bodenbearbeitungsgerätes an einer basisstation und bodenbearbeitungssystem
KR102173994B1 (ko) * 2014-03-18 2020-11-04 주식회사 만도 차량용 레이더의 조정 방법 및 제어 장치
CN103954971B (zh) * 2014-05-22 2016-03-30 武汉大学 机载彩色三维扫描激光雷达
US10419703B2 (en) * 2014-06-20 2019-09-17 Qualcomm Incorporated Automatic multiple depth cameras synchronization using time sharing
JP6410258B2 (ja) 2015-03-02 2018-10-24 株式会社トプコン 光波距離計
US9933514B1 (en) * 2015-03-12 2018-04-03 The Boeing Company LADAR systems with dynamic receiver filters
US10126411B2 (en) 2015-03-13 2018-11-13 Continental Advanced Lidar Solutions Us, Llc. Beam steering LADAR sensor
EP3070494B1 (de) 2015-03-18 2021-04-28 Leica Geosystems AG Elektrooptisches distanzmessverfahren und ebensolcher distanzmesser
FR3034513A1 (ko) 2015-04-02 2016-10-07 Stmicroelectronics (Grenoble 2) Sas
US20160341848A1 (en) * 2015-05-22 2016-11-24 Satoshi Nakamura Object detection apparatus, object removement control system, object detection method, and storage medium storing object detection program
JP2017009339A (ja) 2015-06-18 2017-01-12 株式会社リコー センサ、センシング装置及び距離計測方法
KR102392999B1 (ko) * 2015-07-13 2022-05-02 현대모비스 주식회사 센서의 시야 범위를 조정하는 시스템 및 그 방법
WO2017022152A1 (ja) 2015-07-31 2017-02-09 パナソニックＩｐマネジメント株式会社 測距撮像装置、及び、固体撮像装置
EP3159711A1 (en) 2015-10-23 2017-04-26 Xenomatix NV System and method for determining a distance to an object
EP3396410A4 (en) 2015-12-21 2019-08-21 Koito Manufacturing Co., Ltd. IMAGE ACQUISITION DEVICE FOR VEHICLES, CONTROL DEVICE, VEHICLE HAVING IMAGE ACQUISITION DEVICE FOR VEHICLES AND CONTROL DEVICE, AND IMAGE ACQUISITION METHOD FOR VEHICLES
JP7183046B2 (ja) * 2016-03-21 2022-12-05 ベロダイン ライダー ユーエスエー，インコーポレイテッド 可変照射強度を有するｌｉｄａｒに基づく三次元撮像
JP6261681B2 (ja) * 2016-08-05 2018-01-17 ソフトキネティック センサーズ エヌブイ タイムオブフライト信号の処理における又はこれに関する改良
US10754033B2 (en) 2017-06-30 2020-08-25 Waymo Llc Light detection and ranging (LIDAR) device range aliasing resilience by multiple hypotheses
US10627492B2 (en) * 2017-08-01 2020-04-21 Waymo Llc Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (LIDAR) system

Also Published As

Publication number Publication date
CN111149013A (zh) 2020-05-12
IL272362A (en) 2020-03-31
EP3649482B1 (en) 2024-03-20
AU2022202436A1 (en) 2022-05-05
US20200241121A1 (en) 2020-07-30
AU2020217306B2 (en) 2022-01-27
IL289451B (en) 2022-10-01
US10627492B2 (en) 2020-04-21
CN113625255B (zh) 2024-04-19
US20190041503A1 (en) 2019-02-07
IL280996B (en) 2022-02-01
CN113625255A (zh) 2021-11-09
US20240151829A1 (en) 2024-05-09
AU2018309582B2 (en) 2020-05-21
AU2020217306A1 (en) 2020-08-27
EP3649482A1 (en) 2020-05-13
JP7059354B2 (ja) 2022-04-25
IL289451A (en) 2022-02-01
KR20200026315A (ko) 2020-03-10
KR102190700B1 (ko) 2020-12-14
WO2019027567A1 (en) 2019-02-07
EP3649482A4 (en) 2021-07-14
US11927697B2 (en) 2024-03-12
US20220308191A1 (en) 2022-09-29
JP2020526772A (ja) 2020-08-31
EP4375703A1 (en) 2024-05-29
CA3071411A1 (en) 2019-02-07
JP2022105031A (ja) 2022-07-12
AU2018309582A8 (en) 2020-05-21
SG11202000827VA (en) 2020-02-27
AU2018309582A1 (en) 2020-02-27
CN111149013B (zh) 2021-07-20
US11415680B2 (en) 2022-08-16
IL289451B2 (en) 2023-02-01
IL280996A (en) 2021-04-29

Similar Documents

Publication Publication Date Title
IL289451A (en) Use of extended exposure time periods to locate error range and ease in an exposure and light spread system
IL266494A (en) Methods and systems for protecting a light exposure and diffusion device
IL271744A (en) Flexibility instrument error range exposure and light spread using multiple hypotheses
IL263105B (en) A vehicle with multiple exposure and light spread devices
SG10202106035XA (en) Light detection and ranging (lidar) device with an off-axis receiver
IL274888A (en) Systems and methods for improving the detection of a repeating signal in a light range and a detection system
EP3236788A4 (en) Electronic cigarette liquid detection and measurement systems
GB2571856B (en) Display interference mitigation systems and methods
EP3586104A4 (en) LIGHT DETECTION SYSTEMS AND METHOD OF USING THEM
EP3330766A4 (en) Mirror unit and optical-scanning-type object detection device
EP3590373A4 (en) SIZE MEASURING DEVICE AND SIZE MEASURING SYSTEM
EP3287810A4 (en) Wind measurement device and lidar device
PT3440481T (pt) Sistema de medição de posição uwb e gnss melhorado
GB2552487B (en) Flow corridor detection and display system
GB2560490B (en) Holographic light detection and ranging
FR3021755B1 (fr) Dispositif de detection de radiations et systeme de detection associe
EP3645967A4 (en) OBJECT MEASUREMENT FOR LIGHT DETECTION AND DISTANCE MEASUREMENT SYSTEM
EP3696521A4 (en) LIGHT DETECTOR AND LASER DEVICE
EP3259574C0 (en) OPTICAL DETECTION SYSTEMS AND METHODS OF USE
EP3255786A4 (en) Solar light detection device and solar light tracker having same
PL3472646T3 (pl) Holograficzna detekcja i pomiar odległości za pomocą światła
EP3809156A4 (en) OBJECT DETECTION DEVICE AND PHOTODESTECTOR
EP3358341A4 (en) FOREIGN BODY INSPECTION DEVICE AND FOREIGN BODY INSPECTION SYSTEM
PT3644097T (pt) Detetor ótico e dispositivo de deteção ótica
GB2560491B (en) Holographic light detection and ranging

Legal Events

Date Code Title Description
FF Patent granted